Abstrak-Mobile robot merupakan mekanisme robot yang mampu bergerak otomatis. Pergerakan robot secara otomatis memerlukan suatu sistem navigasi. Navigasi adalah metode untuk menentukan gerak robot. Pada penelitian ini navigasi robot dikembangkan menggunakan metode behavior (perilaku) dengan logika fuzzy. Perilaku robot dibagi menjadi beberapa modul, seperti berjalan, menghindari halangan, mengikuti dinding, koridor maupun kondisi u-shape. Pada penelitian ini dirancang simulasi mobile robot di dalam pemrograman visual. Robot dilengkapi dengan tujuh sensor jarak dan dibagi menjadi beberapa kelompok untuk menguji perilaku yang dirancang, sehingga perilaku robot menghasilkan pengaturan kecepatan dan steering. Berdasarkan percobaan yang telah dilakukan menunjukkan bahwa simulasi mobile robot dapat berjalan mulus (smooth) pada berbagai kondisi. Hal ini membuktikan bahwa implementasi pembentukan behavior dan teknik logika fuzzy pada robot bekerja dengan baik. Kata Kunci : behavior, logika fuzzy, mobile robotAbstract-Mobile robot is the robotic mechanism that is able to moved automatically. The movement of the robot automatically require a navigation system. Navigation is a method for determining the robot motion. In this study, using a method developed robot navigation behavior with fuzzy logic. The behavior of the robot is divided into several modules, such as walking, avoid obstacles, to follow walls, corridors and conditions of u-shape. In this research designed mobile robot simulation in a visual programming. Robot is equipped with seven distance sensor and divided into several groups to test the behavior that is designed, so that the behavior of the robot generate speed and steering control. Based on experiments that have been conducted shows that mobile robot simulation can run smooth on many conditions. This proves that the implementation of the formation of behavior and fuzzy logic techniques on the robot working well. Keywords : behavior, fuzzy logic, mobile robotCopyright © 2016 JNTE. All rights reserved PENDAHULUANMobile robot dirancang untuk bergerak secara otomatis atau dikenal robot bergerak otonom, robot yang dapat bergerak bebas pada area yang tidak terstruktur dan dapat menentukan sendiri jalur pergerakannya. Robot otonom identik sebagai robot cerdas karena sistem-nya menggunakan teknik kendali cerdas (artificial intelligence) untuk mengontrol pergerakan. Kontrol gerakan robot ini dikenal istilah navigasi cerdas [1].Navigasi merupakan suatu metode dalam menentukan aksi dari pergerakan robot di dalam lingkungan [1]. Navigasi cerdas diaplikasikan pada robot bergerak otonom agar dapat membuat keputusan sendiri. Saat ini banyak dikembangkan suatu sistem navigasi robot bergerak otonom menggunakan logika fuzzy Sistem navigasi cerdas pada robot bergerak otonom dengan menirukan prilaku atau reaksi terhadap keadaan lingkungan yang dihadapi. Metode behavior dapat bekerja pada lingkungan yang dinamis, salah satu contoh behavior pada robot dalam mencari target [2] [7]. Metode behavior terinspirasi dari sifat prilak...
GACOBOT is a garbage collection robot that is an integration of mobile robot systems and non-mobile robots, namely mobile robots like-a-car robot systems and robotic manipulators as garbage grabber systems. The GACOBOT system also integrates ultrasonic sensors and navigation systems as GACOBOT support systems, the garbage collection process has succeeded in the type of egg waste and bottle junk. The garbage collection process by conditioning the front ultrasonic sensor, then the grabber adjusts the trash and puts it into a garbage container while the robot is mounted by the robot. GACOBOT has been able to take garbage with iterations 40 times with 2 forms of garbage.
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